相关论文: Rational Linkages: From Poses to 3D-printed Protot…

For a polygonal linkage, we produce a fast navigation algorithm on its configuration space. The basic idea is to approximate the configuration space by the vertex-edge graph of its cell decomposition discovered by the first author. The…

We propose an efficient approach to exploiting motion information from consecutive frames of a video sequence to recover the 3D pose of people. Instead of computing candidate poses in individual frames and then linking them, as is often…

Estimating 3D human poses from 2D images is challenging due to occlusions and projective acquisition. Learning-based approaches have been largely studied to address this challenge, both in single and multi-view setups. These solutions…

"How can we animate 3D-characters from a movie script or move robots by simply telling them what we would like them to do?" "How unstructured and complex can we make a sentence and still generate plausible movements from it?" These are…

Alignments are a well-known process mining technique for reconciling system logs and normative process models. Evidence of certain behaviors in a real system may only be present in one representation - either a log or a model - but not in…

Model merging, typically on Instruct and Thinking models, has shown remarkable performance for efficient reasoning. In this paper, we systematically revisit the simplest merging method that interpolates two weights directly. Particularly,…

Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…

It can be easy and even fun to sketch humans in different poses. In contrast, creating those same poses on a 3D graphics "mannequin" is comparatively tedious. Yet 3D body poses are necessary for various downstream applications. We seek to…

In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…

Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…

Comprehending natural language instructions is a critical skill for robots to cooperate effectively with humans. In this paper, we aim to learn 6D poses for roboticassembly by natural language instructions. For this purpose,…

This work presents a novel interactive system for simple garment composition and surface patterning. Our approach makes it easier for casual users to customize machine-knitted garments, while enabling more advanced users to design their own…

The paper presents a software tool for analysis and interactive engagement in various logical reasoning tasks. A first feature of the program consists in providing an interface for working with logic-specific repositories of formal…

We present a new rational approximation algorithm based on the empirical interpolation method for interpolating a family of parametrized functions to rational polynomials with invariant poles, leading to efficient numerical algorithms for…

Computer vision/deep learning-based 3D human pose estimation methods aim to localize human joints from images and videos. Pose representation is normally limited to 3D joint positional/translational degrees of freedom (3DOFs), however, a…

We propose an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing approaches either rely on heuristics for instantaneous foothold selection--compromising safety and…

We propose a novel efficient and lightweight model for human pose estimation from a single image. Our model is designed to achieve competitive results at a fraction of the number of parameters and computational cost of various…

The simplest way to obtain continuous interpolation between two points in high dimensional space is to draw a line between them. While previous works focused on the general connectivity between model parameters, we explored linear…

We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…

Aligning multiple modalities in a latent space, such as images and texts, has shown to produce powerful semantic visual representations, fueling tasks like image captioning, text-to-image generation, or image grounding. In the context of…